Abstract
Consider the following scenario (Fig. 8.1) - a moving observer is presented with a non-static 3D scene containing several moving entities, probably generating some kind of sound: how does this observer perceive the 3D structure, motion trajectory and velocity of all entities in the scene, while taking into account the ambiguities and conflicts inherent to the perceptual process?
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Ferreira, J.F., Dias, J. (2014). Case-Study: Bayesian Hierarchy for Active Perception. In: Probabilistic Approaches to Robotic Perception. Springer Tracts in Advanced Robotics, vol 91. Springer, Cham. https://doi.org/10.1007/978-3-319-02006-8_8
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